Index: firmware/App/Controllers/DialOutFlow.c
===================================================================
diff -u -r4ebc1f7e1aeb3a332e91fcdd1bbbe1a01873d93a -rf9b8b75c3686be892799b5446b955fd36ab49fa3
--- firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision 4ebc1f7e1aeb3a332e91fcdd1bbbe1a01873d93a)
+++ firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision f9b8b75c3686be892799b5446b955fd36ab49fa3)
@@ -54,6 +54,8 @@
 
 #define DOP_HOME_RATE                           50              ///< target pump speed (in estimate mL/min) for homing.
 #define DOP_HOME_TIMEOUT_MS                     10000           ///< maximum time allowed for homing to complete (in ms).
+#define DOP_SPEED_CALC_INTERVAL                 ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL )  ///< interval (ms/task time) at which the dialysate outlet pump speed is calculated.
+#define DOP_HALL_EDGE_COUNTS_PER_REV            6               ///< number of hall sensor edge counts per motor revolution.
 
 #define DOP_MAX_CURR_WHEN_STOPPED_MA            150.0           ///< Motor controller current should not exceed this when pump should be stopped.
 #define DOP_MIN_CURR_WHEN_RUNNING_MA            150.0           ///< Motor controller current should always exceed this when pump should be running.
@@ -136,6 +138,10 @@
 static BOOL dopStopAtHomePosition = FALSE;                                                  ///< stop dialysate outlet pump at next home position
 static U32 dopHomeStartTime = 0;                                                            ///< when did dialysate outlet pump home command begin? (in ms)
 
+static U16 dopLastMotorHallSensorCount = 0;                                                 ///< last hall sensor count for the dialysate outlet pump motor
+static MOTOR_DIR_T dopMotorDirectionFromHallSensors = MOTOR_DIR_FORWARD;                    ///< pump direction according to hall sensor count
+static U32 dopMotorSpeedCalcTimerCtr = 0;                                                   ///< counter determines interval for calculating dialysate outlet pump motor speed from hall sensor count.
+
 static DIAL_OUT_PUMP_SELF_TEST_STATE_T dialOutPumpSelfTestState = DIAL_OUT_PUMP_SELF_TEST_STATE_START;  ///< Current state of the dialysate outlet pump self test state machine.
 static U32 dialOutPumpSelfTestTimerCount = 0;                                               ///< Timer counter for time reference during self test.
 
@@ -156,6 +162,8 @@
 
 static void publishDialOutFlowData( void );
 
+static void updateDialOutPumpSpeedAndDirectionFromHallSensors( void );
+static void checkDialOutPumpRotor( void );
 static void checkDialOutPumpDirection( void );
 static void checkDialOutPumpMCCurrent( void );
 
@@ -392,21 +400,19 @@
     dialOutPumpMCSpeedRPM.data = (F32)(SIGN_FROM_12_BIT_VALUE(bpRPM)) * DOP_SPEED_ADC_TO_RPM_FACTOR;
     dialOutPumpMCCurrentmA.data = (F32)(SIGN_FROM_12_BIT_VALUE(bpmA)) * DOP_CURRENT_ADC_TO_MA_FACTOR;
 
+    // calculate dialysate outlet pump motor speed/direction from hall sensor count
+    updateDialOutPumpSpeedAndDirectionFromHallSensors();
+
+    // check for home position, zero/low speed
+    checkDialOutPumpRotor();
+
     // don't start enforcing checks until out of init/POST mode
     if ( getCurrentOperationMode() != MODE_INIT )
     {
         checkDialOutPumpDirection();
         checkDialOutPumpMCCurrent();
     }
 
-    // if homing, check timeout
-    if ( ( TRUE == dopStopAtHomePosition ) && ( TRUE == didTimeout( dopHomeStartTime, DOP_HOME_TIMEOUT_MS ) ) )
-    {
-        signalDialOutPumpHardStop();
-        dopStopAtHomePosition = FALSE;
-        // TODO - alarm???
-    }
-
     publishDialOutFlowData();
 }
 
@@ -711,8 +717,74 @@
     }
 }
 
+/*********************************************************************//**
+ * @brief
+ * The updateDialOutPumpSpeedAndDirectionFromHallSensors function calculates \n
+ * the dialysate outlet pump motor speed and direction from hall sensor counter on \n
+ * a 1 second interval.
+ * @details
+ * Inputs : dopLastMotorHallSensorCount, dopMotorSpeedCalcTimerCtr, current count from FPGA
+ * Outputs : dopMotorDirectionFromHallSensors, dialOutPumpSpeedRPM
+ * @return none
+ *************************************************************************/
+static void updateDialOutPumpSpeedAndDirectionFromHallSensors( void )
+{
+    if ( ++dopMotorSpeedCalcTimerCtr >= DOP_SPEED_CALC_INTERVAL )
+    {
+        U16 dopMotorHallSensorCount = getFPGADialOutPumpHallSensorCount();
+        U16 incDelta = ( dopMotorHallSensorCount >= dopLastMotorHallSensorCount ? dopMotorHallSensorCount - dopLastMotorHallSensorCount : ( 0x10000 - dopLastMotorHallSensorCount ) + dopMotorHallSensorCount );
+        U16 decDelta = 0x10000 - incDelta;
+        U16 delta;
+
+        // determine dialysate outlet pump speed/direction from delta hall sensor count since last interval
+        if ( incDelta < decDelta )
+        {
+            dopMotorDirectionFromHallSensors = MOTOR_DIR_FORWARD;
+            delta = incDelta;
+            dialOutPumpSpeedRPM.data = ( (F32)delta / (F32)DOP_HALL_EDGE_COUNTS_PER_REV ) * (F32)SEC_PER_MIN;
+        }
+        else
+        {
+            dopMotorDirectionFromHallSensors = MOTOR_DIR_REVERSE;
+            delta = decDelta;
+            dialOutPumpSpeedRPM.data = ( (F32)delta / (F32)DOP_HALL_EDGE_COUNTS_PER_REV ) * (F32)SEC_PER_MIN * -1.0;
+        }
+
+        // update last count for next time
+        dopLastMotorHallSensorCount = dopMotorHallSensorCount;
+        dopMotorSpeedCalcTimerCtr = 0;
+    }
+}
+
 /*************************************************************************
  * @brief
+ * The checkDialOutPumpRotor function checks the rotor for the dialysate outlet \n
+ * pump.  If homing, this function will stop when hall sensor detected.  If pump \n
+ * is off or running very slowly, rotor speed will be set to zero.
+ * @details
+ * Inputs : dopStopAtHomePosition, dopHomeStartTime, dopRotorRevStartTime
+ * Outputs : pump may be stopped if homing, dialOutPumpRotorSpeedRPM may be set to zero.
+ * @return none
+ *************************************************************************/
+static void checkDialOutPumpRotor( void )
+{
+    // if homing, check timeout
+    if ( ( TRUE == dopStopAtHomePosition ) && ( TRUE == didTimeout( dopHomeStartTime, DOP_HOME_TIMEOUT_MS ) ) )
+    {
+        signalDialOutPumpHardStop();
+        dopStopAtHomePosition = FALSE;
+        // TODO - alarm???
+    }
+
+    // if pump is stopped or running very slowly, set rotor speed to zero
+    if ( TRUE == didTimeout( dopRotorRevStartTime, DOP_HOME_TIMEOUT_MS ) )
+    {
+        dialOutPumpRotorSpeedRPM.data = 0.0;
+    }
+}
+
+/*************************************************************************
+ * @brief
  * The checkDialOutPumpDirection function checks the set direction vs. \n
  * the direction implied by the sign of the measured MC speed.
  * @details